Description

This tf gen (generator) node receives the tags_detections and the tag TF generated by the apriltag_ros node and publishes a new generated TF that is shifted in the z direction (distance parameter) and the x direction (shift parameter) of the tag TF. This node is specific to the Tugbot robot model and how the camera is positioned in the model.

Examples

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Input List

There are 4 parameters.

Port Name	Message type	Callback
`enable`	Bool [std_msgs-ROS1/Subscriber][std_msgs-ROS1/Subscriber]	tf_gen_enable.cb
`init`	Init [movai_msgs-MovAI/Init][movai_msgs-MovAI/Init]	tf_gen_init.cb
`tag_detections`	AprilTagDetectionArray [apriltag_ros-ROS1/Subscriber][apriltag_ros-ROS1/Subscriber]	tf_gen_tag_detections.cb
`tag_tf_sub`	TF [movai_msgs-ROS1/TFSubscriber][movai_msgs-ROS1/TFSubscriber]	tf_gen_tag_tf_sub.cb

Output List

There are 1 parameters.

Port Name	Message type
generated_tf	TF [movai_msgs-ROS1/TFPublisher][movai_msgs-ROS1/TFPublisher]

Parameter List

There are 6 parameters.

Parameter	Description
apriltag_tf_suffix	The suffix of the TF generated by the apriltag_ros node.
camera	The camera of the tugbot model which is used to generate the tag TF. This parameter is used to rotate the generated TF according to the positioning of the front or back camera.
distance	The distance of the generated TF from the tag TF in the z direction of the tag TF.
expected_tag_id	The expected TF frame name that is generated using the apriltag_ros node.
generated_tf_frame	The name of the generated TF frame.
shift	The distance of the generated TF from the tag TF in the x direction of the tag TF.

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